"An introduction to robotics for undergraduates in engineering. The book is explicitly robot-agnostic, reflecting the timeliness of fundamental concepts"--
"An introduction to robotics for undergraduates in engineering. The book is explicitly robot-agnostic, reflecting the timeliness of fundamental concepts"--
Nikolaus Correll, Bradley Hayes, Christoffer Heckman, and Alessandro Roncone
Inhaltsangabe
Preface xv 1 Introduction 1 I MECHANISMS 9 2 Locomotion, Manipulation, and Their Representations 11 3 Kinematics 27 4 Forces 53 5 Grasping 61 II SENSING AND ACTUATION 71 6 Actuators 73 7 Sensors 81 III COMPUTATION 95 8 Vision 97 9 Feature Extraction 109 10 Artificial Neural Networks 119 11 Task Execution 139 12 Mapping 155 13 Path Planning 165 14 Manipulation 179 IV UNCERTAINTY 189 15 Uncertainty and Error Propagation 191 16 Localization 201 17 Simultaneous Localization and Mapping 219 V APPENDIXES A Trigonometry 233 B Linear Algebra 235 C Statistics 239 D Backpropagation 247 E How to Write a Research Paper 253 F Sample Curricula 257 References 265 Index 269
Preface xv 1 Introduction 1 I MECHANISMS 9 2 Locomotion, Manipulation, and Their Representations 11 3 Kinematics 27 4 Forces 53 5 Grasping 61 II SENSING AND ACTUATION 71 6 Actuators 73 7 Sensors 81 III COMPUTATION 95 8 Vision 97 9 Feature Extraction 109 10 Artificial Neural Networks 119 11 Task Execution 139 12 Mapping 155 13 Path Planning 165 14 Manipulation 179 IV UNCERTAINTY 189 15 Uncertainty and Error Propagation 191 16 Localization 201 17 Simultaneous Localization and Mapping 219 V APPENDIXES A Trigonometry 233 B Linear Algebra 235 C Statistics 239 D Backpropagation 247 E How to Write a Research Paper 253 F Sample Curricula 257 References 265 Index 269
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